Sensor System Including a Magnetized Shaft

ABSTRACT

A sensor includes a shaft and a magnetic sensor. The shaft may have at least one magnetized active region. The magnetic sensor may be configured to sense a magnetic field about the shaft, and may provide an output representative of torque applied to the shaft, shaft rotational speed and shaft rotational position.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a divisional of co-pending U.S. applicationSer. No. 11/552,120, filed Oct. 23, 2006, which claims the benefit ofthe filing date of U.S. Provisional Application Ser. No. 60/729,383,filed Oct. 21, 2005, and is a continuation-in-part of U.S. applicationSer. No. 11/270,049, filed Nov. 9, 2005, the entire teachings of whichapplications are hereby incorporated herein.

TECHNICAL FIELD

This disclosure relates to sensors, and more particularly to a sensorsystem including a magnetized shaft.

BACKGROUND

In the control of systems having rotating shafts, torque is afundamental parameter of interest. Accordingly, sensors for sensing thetorque applied to a rotating shaft have been developed. Sensors that donot contact the rotating shaft are desirable. Non-contact sensors maycreate and/or monitor a magnetic field about a rotating shaft that isproportional to the torque applied to the shaft.

In one known configuration, the rotating shaft, or one or more axialportions thereof, may be circumferentially magnetized, i.e.,magnetically polarized in single direction following a circular pathcoaxial with the axis of the shaft. When the shaft is under zero torque,the magnetic field established by the shaft does not include a componentin the direction of the shaft axis. When torque is applied to the shaft,the circumferential magnetic field becomes increasingly helical withincreasing torque. The helical magnetization resulting from the appliedtorque includes an axial component in the direction of the axis of theshaft and a circumferential component. The axial component may bedirectly proportional to the applied torque. A magnetic sensor locatedproximate the shaft may detect the axial component and provide an outputindicative of the level of torque applied to the shaft.

Proper magnetization of the shaft in such an embodiment is critical tooperation. Manufacturing errors in magnetizing the shaft or inassembling the shaft in the system, can lead to a complete failure ofthe sensor system. Also, the shaft magnetization may weaken over time.However, the lack of a sensible axial field component when the shaft isat zero torque does not allow a simple, passive external means fordetermining if the shaft is magnetized properly or even magnetized atall.

One known approach to providing a sensor having a quiescent axialmagnetic field at zero torque involves circumferentially magnetizing ashaft while the shaft is under a predetermined torque. Since thecircumferential field is induced in the presence of the predeterminedtorque, a non-measurable axial field component occurs at the torqueapplied during magnetization, and when the torque on the shaft isremoved the circumferential field is skewed resulting in a quiescentaxial field component. Although such a configuration allows diagnosticsat zero torque, it also suffers from several deficiencies. For example,magnetizing the shaft under a predetermined torque is a cumbersome andexpensive process that does not allow facile large volume production.

In addition, a circumferentially magnetized configuration may only allowfor measurement of torque, and not position or speed. In someapplications it may be desirable for the sensor to also, oralternatively, provide position and/or speed sensing with the same setof electronics.

Accordingly, there is a need for a sensor system including a magnetizedshaft providing a measurable axial field component at zero torque thatmay be efficiently and cost-effectively produced. There is also a needfor a sensor system including a magnetized shaft that provides sensingof torque, position, and/or speed

BRIEF DESCRIPTION OF THE DRAWINGS

Features and advantages of embodiments of the disclosed subject matterwill become apparent as the following Detailed Description proceeds, andupon reference to the Drawings, where like numerals depict like parts,and in which:

FIG. 1 is a block diagram of an exemplary system consistent with thepresent invention;

FIG. 2 diagrammatically illustrates an exemplary sensor consistent withthe present invention;

FIG. 3 is a cross-sectional view of the shaft of FIG. 2 taken along theline A-A of FIG. 2 illustrating elliptical magnetization of the shaft;

FIG. 4 diagrammatically illustrates another exemplary sensor consistentwith the present invention;

FIG. 5 is a perspective view of a shaft and pairs of electrode clamps toillustrate one method of inducing elliptical magnetization in a shaftconsistent with the present invention;

FIG. 6 is a top view of the shaft and electrode clamps of FIG. 5;

FIG. 7 is a cross-sectional view of the shaft and electrode clamps ofFIG. 6 taken along the line A-A of FIG. 6;

FIG. 8 is a view of a shaft and electromagnet tilted relative to theshaft to illustrate another method of inducing elliptical magnetizationin a shaft consistent with the present invention;

FIG. 9 is a cross-sectional view of the shaft and electromagnet of FIG.8 taken along the line A-A of FIG. 8;

FIG. 10 is a view of a shaft and permanent magnet tilted relative to theshaft to illustrates another method of inducing elliptical magnetizationin a shaft consistent with the present invention;

FIG. 11 is a cross-sectional view of the shaft and permanent magnet ofFIG. 10 taken along the line A-A of FIG. 10;

FIG. 12 diagrammatically illustrates another embodiment of a sensorhaving two elliptically magnetized regions with AC analysis of a timevarying magnetic field as the shaft rotates;

FIG. 13 diagrammatically illustrates another embodiment of a sensorhaving two elliptically magnetized regions with AC analysis of a timevarying magnetic field as the shaft rotates to concurrently monitorshaft parameters in addition to torque;

FIG. 14 is a transverse cross-section of the active region of the shaftof FIG. 13 illustrating an example of radial displacement of the twofluxgate coils of FIG. 13;

FIG. 15 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 15A is a radial sectional view of the embodiment of FIG. 15 takenbetween electrode clamp assemblies;

FIG. 16 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 17 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 18 is a side view of a shaft magnetized using a configuration asshown in FIG. 17 and including a double differential detectorconfiguration;

FIG. 19 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 20 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 20A is a radial sectional view of the embodiment of FIG. 20 takenthrough the electrode clamp assemblies;

FIG. 21 is a top view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 21A is a radial sectional view of the embodiment of FIG. 21 takenthrough the electrode clamp assemblies;

FIG. 22 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 22A is a radial sectional view of the embodiment of FIG. 22 takenthrough the electrode clamp assemblies;

FIG. 23 is a top view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 23A is a radial sectional view of the embodiment of FIG. 23 takenthrough a first pair of the electrode clamp assemblies;

FIG. 23B is a radial sectional view of the embodiment of FIG. 23 takenthrough a second pair of the electrode clamp assemblies;

FIG. 24 is a top view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 24A is a perspective view of the embodiment of FIG. 24;

FIG. 25 is a top view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 25A is a perspective view of the embodiment of FIG. 25;

FIG. 26 is a top view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 26A is a perspective view of the embodiment of FIG. 26;

FIG. 27 is a side view of a shaft consistent with the present inventionincluding first and second active regions;

FIG. 27A is a side view of a shaft consistent with the present inventionillustrating establishment of saturation zones by taping an axialcurrent through a center of the shaft;

FIG. 28 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 29 is a side view of a shaft and electrode clamps illustratinganother system and method of magnetizing a shaft consistent with thepresent invention;

FIG. 30 diagrammatically illustrates one embodiment of a contact pin;

FIG. 31 is a view of a shaft and a plurality of contact pins in contactwith the shaft in a first exemplary configuration for establishingmagnetized active region in the shaft;

FIG. 32 is a view of a shaft and a plurality of contact pins in contactwith the shaft in a second exemplary configuration for establishingmagnetized active region in the shaft;

FIG. 33 diagrammatically illustrates one exemplary system and method forproviding unbalanced currents for establishing first and second activeregions in a shaft consistent with the present invention;

FIG. 34 diagrammatically illustrates radially and tangentially orientedflux gate coils consistent with the present invention;

FIG. 35 diagrammatically illustrates an axially oriented flux gate coilsconsistent with the present invention;

FIG. 36 diagrammatically illustrates an exemplary housing forpositioning three flux gate coils around a shaft consistent with thepresent invention;

FIG. 37 diagrammatically illustrates an exemplary housing forpositioning four flux gate coils around a shaft consistent with thepresent invention;

FIG. 38 is a plot of sensor output vs. torque for an exemplary sensorconsistent with the present invention;

FIG. 39 is a plot of sensor output vs. shaft rotational angle for anexemplary sensor consistent with the present invention; and

FIG. 40 is a plot of sensor output vs. shaft rotational angle for anexemplary sensor consistent with the present invention.

Although the following Detailed Description will proceed with referencebeing made to illustrative embodiments, many alternatives,modifications, and variations thereof will be apparent to those skilledin the art. Accordingly, it is intended that the claimed subject matterbe viewed broadly.

DETAILED DESCRIPTION

The description provided herein is with reference to various exemplaryembodiments. It is to be understood that the embodiments describedherein are presented by way of illustration, not of limitation. Thepresent invention may be incorporated into a wide variety of systemswithout departing from the spirit and scope of the invention.

Turning now to FIG. 1, there is shown in block diagram form oneexemplary embodiment of a system 100 including a sensor 104 consistentwith the present invention. As shown, the system 100 may include acontroller 106 and one or more systems 108 and 110 controlled by thecontroller 106. The sensor 104 may monitor the torque applied to theshaft 102. In one exemplary embodiment, the shaft 102 may be coupled, toor form a portion of, a power take-off shaft of a tractor. An outputrepresentative of the torque applied to the power take-off may becoupled from the sensor 104 to the controller 106. The controller may bea microcontroller, e.g. including an appropriately programmedmicroprocessor and associated memory, configured to control the systems108 and 110 in response to the sensor output.

In another exemplary embodiment, the shaft 102 may be coupled to, orform a portion of, a steering shaft of a vehicle steering system. Thesensor 104 may provide an output representative of the torque applied tothe steering wheel shaft to the controller 106. The controller 106 maycontrol one or more vehicle systems 108, 110 in response to the sensoroutput. For example, system 108 may include an automatic braking systemwhere braking is influenced by the torque applied to the steering wheelshaft. If an operator of the vehicle is performing an evasive maneuver,the sensor 104 may sense a torque applied to the steering wheel shaftthat exceeds a threshold level. In response, the controller 106 mayprovide a control signal to the automatic braking system 108. Thebraking system 108 may then selectively manage the vehicle brakes tocontrol the vehicle. The system 110 may include a traction controlsystem wherein engine responsiveness and other parameters are influencedby the torque applied to the steering wheel shaft.

FIG. 2 diagrammatically illustrates one exemplary embodiment of a sensor104 a consistent with the present invention. The illustrated exemplarysensor system includes a cylindrical shaft 102 a including anelliptically magnetized active region 202 and a magnetic field sensor205. The active region 202 may be established by magnetizing a portionof a homogenous shaft between two passive regions 204 and 206. The shaft10 may be formed of a magnetorestrictive material capable of maintaininga magnetization induced therein following repeated application of torqueand returning the magnetization to the direction established atpolarization when the torque is reduced to zero. A variety of materialsexhibiting these properties are well known to those of ordinary skill inthe art. Some exemplary materials for forming the shaft are described indetail in U.S. Pat. No. 6,553,847, the teachings of which areincorporated herein by reference.

A variety of configurations for the magnetic field sensors 205 useful inconnection with the present invention are also well known to those ofordinary skill in the art. In one embodiment, for example, the magneticfield sensors may be configured as fluxgate sensors. Hall Effect sensorsmay also or alternatively be used depending on the level of the sensedfield.

With continued reference to FIG. 2, consistent with the presentinvention the active region 202 may be elliptically magnetized when theshaft is under zero torque. As used herein “elliptically magnetized” and“elliptical magnetization” refer to a magnetic polarization of a shaftestablished at an oblique angle to the centerline axis of the shaft in anon-circular elliptical path around the shaft. As shown, for example,the active region 202 may be polarized in a direction indicated by arrowB at an oblique angle 2 to a center line axis 212 of the shaft. In oneembodiment an elliptical magnetization may be imparted with a directionof polarization at an angle 2 between about 10° and 80°. It should beunderstood, however, that although the angle 2 is illustrated in FIG. 2as being less than 90 degrees, the angle 2 may also be greater than 90degrees depending the desired orientation of the ellipticalmagnetization, and may be selected to establish a desired magnitude ofthe axial component 250 at zero torque. Also, the active region mayextend over an axial extent of the shaft between a first end 240 andsecond end 242 that are substantially parallel with the direction ofmagnetization B. The axial extent of the active region may be selecteddepending upon the application, e.g. to accommodate manufacturing oroperating tolerances in the axial position of the shaft.

The elliptically magnetized active region 202 establishes a magneticfield including a nonzero axial component 250 that may be sensed by themagnetic field sensor when the shaft 102 is at zero torque. This allowsfor diagnostic testing to ensure proper magnetization, installationand/or calibration of the shaft 102. As torque is applied to the shaftin any direction, the elliptical magnetization may be skewed from itsoriginal position at zero torque resulting in a change in the magnitudeof axial component of the magnetic field. The change in the axialcomponent of the magnetic field may be proportional to the appliedtorque. The magnetic field sensor 205 may sense the magnitude of theaxial component and provide an output signal representative of thetorque applied to the shaft 102.

Although sensing a nonzero axial component 250 of the magnetic field atzero torque, electronics associated with the magnetic sensor 205 may becalibrated to provide a desired sensed output at zero torque. In oneembodiment, the sensed output at zero torque may be set to half theinput voltage. The electronics may also be configured to reset thezero-torque output to a different level to allow for diagnostic testing,e.g. to ensure proper magnetization, installation, and/or calibration ofthe shaft 102.

FIG. 3 is a cross-sectional view of the shaft of FIG. 2 taken along theline A-A of FIG. 2 illustrating an elliptical magnetization of theshaft. The line A-A is taken along the direction of magnetization B atthe angle 2 to the center line axis 212 of the shaft. As such, the crosssectional view of the active region of the shaft is elliptically shapedillustrating the elliptical direction of magnetization of the activeregion indicated by arrow 302.

A sensor system consistent with the present invention may include ashaft having a plurality of magnetized active regions. FIG. 4, forexample, diagrammatically illustrates an exemplary embodiment of asensor system 104 b including a shaft 102 b having first 202-1 andsecond 202-2 elliptically magnetized active regions and associated first205-1 and second 205-2 magnetic field sensors. In the illustratedexemplary embodiment, the direction of polarization of the active region202-1 indicated by arrow B1 is in the opposite direction compared to thedirection of polarization of the active region 202-2 indicated by arrowB2. Providing the active regions with opposed magnetization directionsmay allow for differential sensing using sensors 205-1 and 205-2 tofacilitate noise cancellation. Although the illustrated embodiment showstwo active regions, any number of active regions may be provided. Inaddition, the active regions may be elliptically magnetized at the sameoblique angle relative to the centerline axis 212 of the shaft, or atdifferent angles.

Turning now to FIGS. 5-7, there is illustrated one exemplary system andmethod for inducing an elliptical magnetization in a shaft consistentwith the present invention. In general, the illustrated exemplaryembodiment establishes an elliptical magnetization by providing acurrent through an active region of a shaft at an oblique angle to thecenter line axis of the shaft. FIG. 5 illustrates a portion of the shaft102 and first 550 and second 552 electrode clamp assemblies. The firstelectrode clamp assembly 550 includes an upper clamp 502 and a lowerclamp 504. The upper clamp 502 may include portions defining a firstportion 510 of a shaft opening, and the lower clamp 504 may includeportions defining a second portion 512 of the shaft opening. When theupper 502 and lower 504 clamps are joined, e.g. using fastenersextending through openings 514, 516, 518 and 520, the first 510 andsecond 512 portions of the shaft opening defined by the upper and lowerclamp portions may be positioned in opposed relationship to define ashaft opening 700 having an elliptically-shaped cross section, asillustrated in FIG. 7. The second electrode clamp assembly 552 may beconstructed in a manner similar to the first electrode clamp assembly550, including upper 506 and lower 508 clamps, which join to defineshaft opening having an elliptically-shaped cross section.

As shown in FIG. 6, when the upper 502 and lower 504 clamps of the firstclamp assembly 550 and the upper 506 and lower 508 clamps of the secondclamp assembly 552 are joined about the shaft 102, the first 550 andsecond 552 clamp assemblies are disposed at an oblique angle to thecenterline axis 212 of the shaft corresponding to the intended angle θof the elliptical magnetization. A current source 600 may be coupled tothe first and second electrode clamp assemblies for establishing currentflow through the shaft indicated by arrows from the second clampassembly to the first clamp assembly. The current flow I results in anelliptical magnetization of the active region 202 indicated by arrow B,and further illustrated in the cross-sectional view of FIG. 7 takenalong the line A-A of FIG. 6. The elliptical magnetization exhibits anonzero axial component at zero torque.

The magnitude of the field induced in the shaft may depend on therequirements of the intended application. In one embodiment, a currentof 400 A may be used to elliptically magnetize a shaft for achievingfield strength at the shaft surface of about 3000 Gauss. The shaftmagnetization may decrease from the shaft surface to the center of theshaft. In another embodiment, the current source may provide a currentof 1,000 A for elliptically magnetizing the shaft.

FIGS. 8-9 illustrate another exemplary system and method for inducing anelliptical magnetization in a shaft consistent with the presentinvention. In the illustrated exemplary embodiment, the shaft 102 ismagnetized to include an active region 202 using an electromagnet 806oriented at oblique angle θ to the center line 212 of the shaft. FIG. 9is a cross-sectional view of the shaft and electromagnet 806 of FIG. 8taken along the line A-A of FIG. 8 further illustrating the ellipticalmagnetization of the active region 202 induced by the electromagnet 806.

FIGS. 10-11 illustrate another exemplary system and method for inducingan elliptical magnetization in a shaft consistent with the presentinvention. In the illustrated exemplary embodiment, the shaft 102 ismagnetized to include an active region 202 using a permanent magnet 1006oriented at an oblique angle 2 to the center line 212 of the shaft. FIG.11 is a cross-sectional view of the shaft and permanent magnet of FIG.10 taken along the line A-A of FIG. 10 further illustrating theelliptical magnetization of the active region 202 induced by thepermanent magnet 1006.

FIG. 12 illustrates another embodiment 104 c of a sensor consistent withthe present invention. The illustrated exemplary embodiment includesfirst 1280 and second 1282 active regions with elliptical magnetization.The first active region 1280 may be established by providing a currentfrom the electrode clamp 1212 to the electrode clamp 1214, asillustrated by the arrows between clamps 1212 and 1214. Similarly, thesecond active region 1282 may be established by providing a current fromthe electrode clamp 1210 to the electrode clamp 1208, as illustrated bythe arrows between clamps 1210 and 1208. The sensor 104 c may include afluxgate coil 1205 and an A.C. coupled magnetometer 1206.

In operation, the fluxgate coil 1205 may sense alternating magneticpolarities as the shaft rotates due to the elliptical magnetizations ofthe active regions of the shaft. For a constant applied torque, theoutput of the magnetometer 1206 may be an alternating signal havingamplitude proportional to the applied torque. The frequency of thealternating signal may be proportional to the shaft speed to provideshaft speed measurements in addition to torque measurements. By A.C.coupling the magnetometer 1206, any undesired D.C. or slowly varyingmagnetic fields, such as common mode field signals, may be rejected.

Accordingly, the sensor 104 c having elliptical magnetization produces atime varying magnetic field sensed by the fluxgate coil 1205. Only onefluxgate coil 1205 may be necessary. The A.C. processing of the sensor104 c may reject undesired slowly varying common mode magnetic fields.The complexity of the signal processing may therefore be significantlyreduced compared to conventional D.C. processing. In addition, A.C.processing may eliminate D.C. offsets and system noise associated withD.C. processing (1/f noise). D.C. drift in the output may also beavoided, and signal-to-noise (S/N) levels of the output signal may beimproved compared to conventional D.C. processing.

FIG. 13 illustrates an embodiment 104 d of the sensor including first1380 and second 1382 active regions with elliptical magnetization, andfirst 1302 and second 1304 fluxgate coils. The first 1302 and second1304 fluxgate coils may be coupled to associated magnetometers 1316,1311, respectively. The elliptical magnetization may produce atime-varying magnetic field sensed by the fluxgate coils as the shaftrotates. In addition to monitoring torque, the sensor 104 d of FIG. 13may monitor parameters such shaft position, shaft speed, and the powertransmitted by the shaft.

The flux gate coils 1302 and 1304 may be positioned about the shaft sothat the signals to the associated magnetometers 1316 and 1311 aretime-varying and 90 degrees out of phase with each other. Additionalcircuitry 1318, 1320, 1322, and 1315 may utilize one or both of theoutputs of the magnetometers 1316 and 1311, either directly orindirectly, to monitor torque, shaft position, shaft speed, and powertransmitted.

In the exemplary embodiment illustrated in FIG. 13, the flux gate coils1302 and 1304 are axially spaced about relative to the active regions1380, 1382 to produce time-varying signals 90 degrees out of phase witheach other. The flux gate coils 1302 and 1304 may also, oralternatively, be circumferentially displaced relative to the shaft.FIG. 14, for example, illustrates the coils 1302 and 1304 spaced at 90degrees from each other around the circumference of the shaft to providetime-varying signals 90 degrees out of phase with each other.

In operation, the output signal of the 0 degree magnetometer 1316 may bea time varying voltage signal that is 90 degrees out of phase with thetime varying voltage signal output from the 90 degree magnetometer 1311.Torque circuitry 1318 may accept the output signals from themagnetometers 1316 and 1311 and provide an output signal at terminal1350 representative of torque applied to the shaft. The torque circuitry1318 may calculate the magnitude of the square root of the sum of thesquare of the two magnetometer output signals to provide the outputsignal representative of the applied torque.

The position circuitry 1320 may accept the output signals from bothmagnetometers 1316 and 1311 and provide an output signal representativeof a position of the shaft at terminal 1352. The position circuitry 1320may calculate the arc tangent of the ratio of the output signal of the90 degree magnetometer 1311 to the 0 degree magnetometer 1316 to providethe output signal representative of the position of the shaft.

The shaft speed circuitry 1322 may accept one output signal from eitherthe 90 degree magnetometer 1311 or the 0 degree magnetometer 1316 andprovide an output signal representative of the speed of the shaft atterminal 1354. The shaft speed circuitry 1322 may analyze the frequencyof the input time varying signal to ascertain the speed of the shaft.Finally, the product circuitry 1315 may multiply the output signal ofthe torque circuitry 1318 with the output of the shaft speed circuitry1322 to determine the power transmitted through the shaft. An outputsignal representative of the power transmitted through the shaft maythen be provided at terminal 1356. Those skilled in the art willrecognize various circuitry configurations to provide the functionalityof circuitry 1318, 1320, 1322, and 1315.

A sensor system consistent with the present invention may include ashaft including one or more active regions provided in other oradditional configurations. A single magnetized active region in a shaftconsistent with the present invention may include at least partiallyopposing magnetic polarizations to impart alternating magnetic fieldpolarities to a sensor positioned adjacent the active region as theshaft rotates. Opposing magnetic polarizations in a single magnetizedactive region may be established by providing currents in an axialextent shaft that are in at least partially opposing directions in aradial cross-section the axial extent. The alternating magnetic fieldpolarities imparted to a sensor in such a configuration may cause thesensor to provide a sinusoidal output that may be used to sense torqueon the shaft, the rotational and/or axial position of the shaft and/orthe shaft rotational speed.

Turning to FIG. 15, for example, an active region may be formed in ashaft 102 using first and second sets of electrode clamp assembliesconfigured for establishing a first current indicated by arrow 1508generally parallel to the shaft axis in a first radial portion of theactive region and a second current indicated by arrow 1510 in adirection opposite to the first current in a second radial portion ofthe active region. In the illustrated exemplary embodiment, the firstelectrode clamp assembly includes a first clamp 1500 disposed on theshaft and a second clamp 1502 positioned in a spaced and opposedrelationship on an opposite side of the shaft from the first clamp. Thesecond electrode clamp assembly includes a first clamp 1504 disposed onthe shaft and a second clamp 1506 positioned in a spaced and opposedrelationship on an opposite side of the shaft from the first clamp. Thefirst and second electrode clamp assemblies are spaced from each otheralong the length of the shaft to establish the axial length of theactive region.

To avoid shorting of adjacent clamps, current may be established in theillustrated directions using two separate current sources with isolatedgrounds. In various exemplary embodiments described current sources arenot shown for simplicity. Instead, positive and negative terminalconnections of current sources may be indicated using “+” and “−” signson associated electrode clamps. As shown in FIG. 15, the positiveterminals of separate current sources may be connected to clamps 1500and 1506, respectively, and the negative terminals of the currentsources may be connected to clamps 1502 and 1504 respectively. In aconfiguration where the distance between the clamps is sufficientlylarge, a single current source may be used to establish the illustratedcurrent flow.

FIG. 15A is a radial cross-sectional view of the configuration of FIG.15 taken between the first and second clamp assemblies and illustratingthe direction of current flow in the radial cross-section of the activeregion. Current into the sheet is indicated by an “x” and current out ofthe sheet is indicated by a “.” As shown, the configuration establishescurrents in opposing directions in the same axial extent of the shaft.

The opposing currents in the shaft may establish opposing magneticfields in the same active region. When torque is applied one portion ofthe active region may establish a positive axial field component whilethe other portion of the active region may produce a negative axialfield component. As the shaft is rotated the altering positive andnegative field components may be sensed by one or more magnetic fieldsensors positioned adjacent the shaft. The sensor may provide asinusoidal output indicative of torque on the shaft, shaft rotationalspeed and/or shaft position.

FIG. 16 illustrates another electrode clamp configuration for forming anactive region in a shaft consistent with the present invention. Asshown, an active region may be formed in a shaft 102 using first andsecond sets of electrode clamp assemblies coupled to the shaft anoblique angle θ to the shaft axis 212 to provide at least partiallyelliptical contact surfaces. In the illustrated exemplary embodiment,the first electrode clamp assembly includes a first clamp 1600 angularlydisposed on the shaft and a second clamp 1602 positioned in a spacedopposed relationship on an opposite side of the shaft from the firstclamp to thereby provide a partially elliptical contact surfaces betweenthe first and second clamps and the shaft. The second electrode clampassembly includes a first clamp 1604 angularly disposed on the shaft anda second clamp 1606 positioned in a spaced opposed relationship on anopposite side of the shaft from the first clamp to thereby provide apartially elliptical contact surfaces between the first and secondclamps and the shaft. The first and second electrode clamp assembliesare spaced from each other along the length of the shaft to establishthe axial length of the active region.

Current for magnetizing the active region may be established in thedirections indicated by the arrows extending the between the clamps, byconnecting clamps 1600 and 1606 to a positive terminal of a currentsource and connecting clamps 1602 and 1604 to a negative terminal of thecurrent source. Again, as the shaft rotates alternating plus and minusfields produce a sinusoidal field that may be sensed by a magnetic fieldsensor positioned adjacent the shaft. The sensor may provide asinusoidal output indicative of torque on the shaft, shaft rotationalspeed and/or shaft position. In the illustrated embodiment, the sensoroffset value, i.e. the sensor output at zero torque, and the phase andamplitude of the sensor sinusoidal output may be adjusted by adjustingthe angle θ.

FIG. 17 illustrates another electrode clamp configuration for formingfirst and second active regions in a shaft consistent with the presentinvention. In the illustrated exemplary embodiment, first, second andthird sets of electrode clamp assemblies may be coupled to the shaft inspaced, opposed relationship, as illustrated and described in connectionwith FIG. 15. In the embodiment of FIG. 17, however, first and secondactive regions having opposing magnetizations may be established tofacilitate double differential measurements. In particular, clamps 1702,1704 and 1706 may be coupled to the positive terminal(s) of a singlecurrent source or separate current sources, and clamps 1700, 1706 and1708 may be coupled to the associated negative terminals to establishthe currents indicated by arrows shown between the clamps.

Although a single differential sensing configuration may be useful inconnection with a system consistent with the present invention, in someapplications a differential measurement may interpret an interferingsignal as a valid signal. A permanent magnet, for example, producesgradients that a differential measurement may pick up as valid signal. Amagnetic field associated with a permanent magnet may decay in anon-linear fashion as distance is increased from the magnet. If apermanent magnet, e.g. as part of a mechanic's tool, is placed near asensor with single differential measurement, error in the sensor outputsignal may be produced. A double differential measurement may be used toavoid such an error.

FIG. 18 illustrates a shaft including first and second regions formed,for example, using the configuration of FIG. 17 and an associated doubledifferential detector/magnetometer configuration. A shown, separate fluxgate sensors 1802, 1804, 1806 and 1808 may be positioned adjacent therespective active regions for sensing magnetic fields in the directionsindicated by the arrows adjacent the sensors. The sensor outputs may beprovided to a double differential detector 1810, which may determine thedifference between the differences between the sensor outputs associatedwith each clamp assembly, i.e. the differential of a differential. Thisdouble differential approach may be effective in canceling first ordermagnetic field gradients, and result in a four fold increase in signalstrength as opposed to a two fold increase in the case of a traditionaldifferential measurement.

FIG. 19 illustrates another electrode clamp configuration for formingfirst and second and third active regions in a shaft consistent with thepresent invention. In the illustrated exemplary embodiment, first,second, third, and fourth sets of clamp assemblies may be coupled to theshaft in spaced, opposed relationship, as illustrated and described inconnection with FIG. 15. In the embodiment of FIG. 19, however, clamps1900, 1906, 1908 and 1914 may be conductive electrode clamps and clamps1902, 1904, 1910 and 1912 may be non-conductive clamp. Clamps 1906 and1908 may be coupled to the positive terminal(s) of a single currentsource or separate current sources, and clamps 1900 and 1914 may becoupled to the associate negative terminals to establish the currentsindicated by arrows shown between the clamps. As the shaft rotates, themagnetizations established by the illustrated current flow may be sensedby one or more sensors, e.g. positioned axially in the center of themiddle active region, which may provide a sinusoidal output indicativeof torque, speed and/or position.

FIG. 20 illustrates another exemplary embodiment of an electrode clampconfiguration for forming a magnetized active region in a shaftconsistent with the present invention. In illustrated embodiment first2002 and second 2004 electrode clamps are positioned generally parallelto the axis of the shaft 102. The first electrode is disposed on a topsurface of the shaft and a second electrode is disposed on a bottomsurface of the shaft approximately 180 degrees from the first electrode.

Current for magnetizing the active region of the shaft may beestablished by connecting the first clamp 2002 to a positive terminal ofa current source and the second clamp 2004 to a negative terminal of thecurrent source. FIG. 20A is a radial cross-sectional view of theconfiguration of FIG. 20 taken through the first and second electrodeclamps with the arrows illustrating the resulting direction of currentflow in the radial cross-section of the active region. As shown, theconfiguration establishes currents, and hence magnetic polarities, inopposing directions in the same axial extent of the shaft. As the shaftrotates the altering positive and negative field components may besensed by one or more magnetic field sensors positioned adjacent theshaft. The sensor may provide a sinusoidal output indicative of torqueon the shaft, shaft rotational speed and/or shaft position.

FIG. 21 illustrates another exemplary embodiment of an electrode clampconfiguration for forming a magnetized active region in a shaftconsistent with the present invention. The embodiment of FIG. 21includes first and second electrode clamps similar to the configurationof FIG. 20, except the electrodes are disposed at an angle θ to theshaft axis. Current for magnetizing the active region of the shaft maybe established by connecting the first clamp 2102 to a positive terminalof a current source and the second clamp 2104 to a negative terminal ofthe current source. This configuration results in current, and hencemagnetic polarities, flowing and twisting on the surface of the shaft inat least partially opposing directions in the same axial extent of theshaft. Again, as the shaft rotates alternating magnetic field polaritiesproduce a sinusoidal field that may be sensed by a magnetic field sensorpositioned adjacent the shaft. The sensor may provide a sinusoidaloutput indicative of torque on the shaft, shaft rotational speed and/orshaft position. In the illustrated embodiment, the sensor offset value,i.e. the sensor output at zero torque, and the phase and amplitude ofthe sensor sinusoidal output may be adjusted by adjusting the angle θ.

FIG. 22 illustrates another exemplary embodiment of an electrode clampconfiguration for forming a magnetized active region in a shaftconsistent with the present invention. The embodiment of FIG. 22 issimilar to the embodiment of FIG. 20, except first 2202, second 2204,third 2206 and fourth 2208 electrode clamps are provided generallyparallel to the surface of the shaft and approximately 90 degrees fromeach other. Current for magnetizing the active region of the shaft maybe established by connecting the clamps 2204 and 2208 to a positiveterminal(s) of one or more current sources and the clamps 2202 and 2206to the negative terminal(s) of the current sources.

FIG. 22A is a radial cross-sectional view of the configuration of FIG.22 taken through the electrode clamps with the arrows illustrating theresulting direction of current flow in the radial cross-section of theactive region. As shown, the configuration establishes currents, andhence magnetic polarities, in opposing directions in the same axialextent of the shaft. As the shaft rotates through one revolution fourchanges in the magnetic field polarity may be sensed by one or moremagnetic field sensors positioned adjacent the shaft. The sensor mayprovide a sinusoidal output indicative of torque on the shaft, shaftrotational speed and/or shaft position. Due to the changes in magneticpolarity, the sinusoidal output may have a higher frequency than theembodiment of, for example, FIG. 20

FIG. 23 illustrates another exemplary embodiment of an electrode clampconfiguration for forming a magnetized active region in a shaftconsistent with the present invention. The embodiment of FIG. 23 issimilar to the embodiment of FIG. 20, except a first active region isestablished by first 2302 and second 2304 electrode clamps and a secondactive region is established by third 2306 and fourth 2308 electrodeclamps. Current for magnetizing the active regions of the shaft 102 maybe established by connecting clamps 2302 and 2308 to a positiveterminal(s) of one or more current sources and clamps 2304 and 2306 tothe negative terminal(s) of the current sources. FIG. 23A is a radialcross-sectional view of the configuration of FIG. 23 taken throughclamps 2306 and 2308 and FIG. 23B is a radial-cross sectional view ofthe configuration of FIG. 23 taken through clamps 2302 and 2304.

The arrows in FIGS. 23A and 23B illustrate the direction of current flowin the radial cross-sections of the active regions. As shown, theconfiguration establishes currents, and hence magnetic polarities, inopposing directions in the first active region of the shaft, andopposing currents in the second active region that are in directionsopposite to that of the first active region. This configurationfacilitates a double differential measurement of the change in magneticflux resulting from torque on the shaft.

FIGS. 24 and 24A illustrate another exemplary embodiment of an electrodeclamp configuration for forming a magnetized active region in a shaftconsistent with the present invention. The embodiment of FIG. 24includes a first electrode clamp assembly including a first 2400 andsecond 2402 clamps and a second electrode clamp assembly including first2406 and second 2408 clamps. Current for magnetizing the active regionsof the shaft may be established in the direction of the arrows in FIG.24 by connecting the electrode clamps to one or more current sources asshown. In the illustrated embodiment, current may flow 90 degrees on thesurface of shaft taking a spiral path.

FIGS. 25 and 25A illustrate another exemplary embodiment of an electrodeclamp configuration consistent with the present invention. Theembodiment of FIG. 25 is similar to the embodiment of FIG. 24, exceptfirst and second active regions are established using first 2502, second2504 and third 2508 electrode clamp assemblies. Current for magnetizingthe active regions of the shaft may be established in the direction ofthe arrows in FIG. 25 by connecting the electrode clamps to one or morecurrent sources as shown. This configuration allows for a doubledifferential measurement, as described above.

FIGS. 26 and 26A illustrates another exemplary embodiment of anelectrode clamp configuration for forming a magnetized active region ina shaft consistent with the present invention. The embodiment of FIG. 26includes two sets of three electrodes disposed at 60 degree intervalsaround the shaft. As shown the first set 2602 of three electrodes may beconnected to a positive terminal of a current source and the second set2604 of three electrodes may be connected to a second set of threeelectrodes to establish current in the direction of the arrows in FIG.26. In this configuration, current may flow 60 degrees on the surface ofshaft from one electrode to another, thereby establishing more magneticpoles and a higher frequency sinusoidal output.

FIG. 27 illustrates a shaft consistent with the present inventionincluding first 2702 and second 2704 active regions where one region maybe used to measure torque while the other region measures position. Thetorque region 2702 may be magnetized according to any of the schemesdescribed herein. The position sensing region 2704 may be magnetized ina coil or permanent magnet to simply create two poles. As the shaft 102rotates a sinusoidal signal is generated that does not vary with torqueand can be used to measure the shaft rotational position.

Consistent with the present invention, configurations for establishingone or more magnetized active regions may also be establish saturationzones on opposing sides of the active region(s). As is know, asaturation zone may be provided for establishing strong magneticboundaries for the active region, resulting in an active region that ismore stable and affected less by nearby ferrous objects. In oneembodiment, a current may be passed axially through the shaft prior toestablishing the magnetized active region, e.g. using electrode clampassemblies, as described above. The axial current through the shaft mayestablish strong saturation zones on either side of the subsequentlyestablished active region. FIG. 27A illustrates another embodimentwherein an initial saturation current is tapped through the middle ofthe shaft, i.e. to establish a saturation current in the direction ofthe illustrated arrows. This configuration may be used to establishsaturation zones of opposite polarities on opposite sides of asubsequently formed active region.

Saturation zones may also be formed using electrode clampconfigurations. FIG. 28, for example, illustrates an exemplaryconfiguration using electrode clamp assemblies for establishingsaturation zones on opposite sides of an active region for configurationsimilar to the embodiment of FIG. 15. FIG. 29 illustrates an exemplaryconfiguration using electrode clamp assemblies for establishingsaturation zones on opposite sides of an active region for configurationsimilar to the embodiment of FIG. 20.

Turning now to FIGS. 30-32 contact pins, instead of electrode clamps,may be used to establish current flow forming one or more active regionsconsistent with any embodiment consistent with the present invention.Contact pins may be used to establish any desired magnetization in ashaft. FIG. 30 illustrates one exemplary embodiment of a contact pin3000 that may be utilized to provide a conductive contact point forpassing current through the shaft. The pin 3000 may include anonconductive fixture plate 3006 and a conductive contact pin 3010. Aspring 3004 may be provided between a portion of the nonconductivefixture plate 3006 and a portion 3020 of the conductive contact pin 3010to bias the contact pin 3010 against the shaft 102.

As illustrated for example in FIG. 31, contact pins, e.g. pins 3102,3104, 3106, 3108, 3110 and 3112, may be coupled around the shaft toestablish current flow in the direction of the arrows, similar to theembodiment of FIG. 15. The embodiment of FIG. 31 may also be used toestablish an elliptical magnetization by arranging pairs of pins at anangle to each other and sequentially passing current through the shaftbetween the associated pairs. Contact pins may be used to establish anysignature magnetization in a shaft. FIG. 32 illustrates one exemplaryembodiment including six conductive pins providing six contact points3202, 3204, 3206, 3208, 3210, and 3212, respectively, on the surface ofthe shaft to establish a unique magnetic signature. A current source maybe programmed to sequentially pass current through selected pairs of thecontact pins to create a magnetic signature in the shaft, e.g. in thedirection of the illustrated arrows. The magnetic signature may beutilized to make additional non-torque measurements such as speed ofrotation measurements. The magnetic signature may provide several polesin one revolution of the shaft to provide additional resolution in speedsensing. The magnetic signature may also create a time varying signalwhich may be different from a sine/cosine signal and which can beuniquely differentiated from sinusoidal noise.

Again, embodiments consistent with the invention may use a single ormultiple current sources for magnetizing one or more active regions in ashaft. In any embodiment consistent with the present invention, separatesources may be used to balance or deliberately un-balance themagnetizing currents, e.g. for adjusting sensor gain and offset (outputat zero torque). As shown for example in FIG. 33, separate sources 3302and 3304 may be applied to establish magnetization zones in the shaft,as described in FIG. 12. Torque may then be measured to determine theestablished offset and gain. If the desired offset and gain are notestablished the outputs of the sources, e.g. V1 and/or V2, may bemodified and offset and gain may measured. This process may be repeateduntil the desired offset and gain are achieved. This approach may beused to eliminate the need to match specific shafts to specificassociated sensors.

Once a shaft is magnetized consistent with the present invention, theshaft may be mechanically conditioned to stabilize the shaft and/or toadjust gain and offset. In one embodiment, controlled mechanical shockpulses imparted to the shaft by vibration impact device may be used tostabilize the shaft. In another embodiment, segmented demagnetizingsolenoid coils may be used to tune the shaft after magnetization.

In any embodiment consistent with the present invention, magnetic fieldcomponents associated with one or more active regions may be sensed byone or more magnetic field sensors positioned adjacent the shaft. In anembodiment wherein the sensors are configured as flux gate sensors, theflux gate coils may positioned in a radial, axial and/or tangentialrelationship to the shaft. FIG. 34 illustrates a radially oriented fluxgate coil 3402 and a tangentially oriented flux gate coil 3404, and FIG.35 illustrates an axially oriented flux gate coil 3502. Each coil mayprovide a separate sinusoidal output indicative of torque on the shaft,shaft rotational speed and/or shaft position.

Use of three radial coils may allow torque measurement while rejectingcommon mode fields. As shown, for example, in FIG. 36, three radialcoils 3604, 3606 and 3608 may be disposed in a housing 3602 that isslipped over the shaft 102 to place the coils in proximity to the shaftfor sensing fields generated in an active region as the shaft rotates.The sum of the outputs from the three coils 3604, 3606 and 3608 may betaken as an indication of torque, while the combined effect of aconstant field on the coils results in cancellation of any common modefield component. In another embodiment, four coils 3704, 3706, 3708 and3710 may be disposed in a housing that is slipped over the shaft 102, asshown for example in FIG. 37. Modifying the spacing of the coils in theembodiment of FIG. 37 allows for adjustment of gain and offset.

A sensor consistent with the present invention may produce a sinusoidaloutput where the amplitude of sinusoidal output is proportional totorque. Magnetic sensor elements, e.g. flux gate coils, may be arrangedto provide sine and cosine signals as the shaft rotates. DC fields maybe rejected from measurements by AC coupling the outputs in amagnetometer. Also, trigonometric relationships may be implemented inthe magnetometer with respect to the sine and cosine outputs todetermine torque and position. In particular, torque may be determinedby

torque=√(sin²+cos²)

and position may be determined by

position=arc tan(sin/cos).

Since the √(sin²+cos²) only produces positive numbers, a systemconsistent with the invention may include a method to produce a negativeoutput when negative torque is measured. In one embodiment, a positionsensor may be used to determine the direction of instantaneousrotational angle change. If the instantaneous angle change is in apositive direction, then torque will have a first predeterminedpolarity. If the instantaneous angle is in a negative direction, thentorque will have a polarity opposite to the first polarity. A systemconsistent with the present invention may also, or alternatively, use aDC average of signal picked up by specific coil placement. If DC averageof a sinusoid (torque dependent) is positive, then torque may beconsidered positive. If the DC average is negative, then torque may beconsidered negative.

The sine/cosine relationship may allow use of one set of electronics(for example one ASIC) for obtaining position and torque. Rotationalspeed may be obtained from one of the sinusoids, e.g. by counting therate of occurrence of the peak amplitude. The sine/cosine relationshipmay also be used for diagnostics. Any departure from the sensedsin/cosine relationship may trigger a diagnostics signal.

A sensor consistent with the present invention may also include ananti-aging algorithm. Magnets (soft or hard material) may age with timeand temperature. This change may be small and acceptable in manyapplications, but in certain critical application this may not beacceptable. A sensor consistent with the present invention may correctthe sinusoidal amplitudes (or the resulting calculated torque) based ona reference signal from one or more coils that provide a sinusoidaloutput that does not change with torque. For example, the magnetizedzone 2704 used to measure position in the embodiment of FIG. 27 mayproduce a sinusoid having an amplitude that does not change with appliedtorque but changes with aging. The change in this amplitude with agingmay be used as a reference signal to correct sensor torque output withaging. For example, the amplitude of the sensor torque output may bemaintained in a constant ratio to the reference signal. Any embodimentconsistent with the present invention may incorporate an anti-agingalgorithm using a sensor output that does not vary with torque.

Turning now to FIGS. 38-40 there are provide plots of sensor output vs.torque and rotational angle for an embodiment including a singlemagnetized active region magnetized as shown in FIG. 20 and includingfirst and second radial field coils on opposite sides of the active zoneand first and second tangential coils on opposite sides of the activezone. The each of the coils may be centered in the active region withthe coil center line disposed at about 6 mm from the shaft surface.Differential measurements of the radial and tangential coil outputs maybe used to reject common mode fields.

Plot 3802 in FIG. 38 illustrates peak-to-peak output amplitude vs.applied torque for sinusoidal output derived from the radial coils andplot 3804 illustrates the peak-to-peak output amplitude vs. appliedtorque for the sinusoidal output derived from the tangential coils. Asshown, output varies substantially linearly with applied torque for boththe radial and tangential coils.

FIG. 39 includes plots 3900 of the radial coil output vs. shaftrotational angle for applied torques of −5.0 NM, −2.5 NM, 0 NM, 2.5 NM,and 5.0 NM. The plots exhibit increasing peak to peak amplitude withincreasing torque. FIG. 40 includes plots 4000 of the tangential coiloutput vs. shaft rotational angle for applied torques of −5.0 NM, −2.5NM, 0 NM, 2.5 NM, and 5.0 NM. The plots exhibit increasing peak to peakamplitude with increasing torque, as well as a phase shift betweendifferent torque values. For example, plot 4004 is associated with anapplied torque of 5.0 NM and plot 4004, which is shifted in phase fromplot 4002, is associated with an applied torque of −5.0 NM.

According to one aspect of the invention, there is provided a sensorincluding a shaft having at least one magnetized active region having atleast partially opposing magnetic polarizations; and a magnetic sensorpositioned adjacent the active region. The sensor may be configured toprovide a sinusoidal output in response to the opposing magneticpolarizations as the shaft rotates. The sinusoidal output may berepresentative of a torque applied to the shaft.

According to another aspect of the invention, there is provided a methodof inducing a magnetization in a magnetorestrictive shaft used in asensor system for monitoring torque applied to the shaft including, themethod including directing a current through an axial extent of theshaft in a direction that is not a single axial direction.

According to yet another aspect of the invention there is provided asensor including a shaft having at least one active region having anelliptical magnetization; and a magnetic sensor configured to sense amagnetic field about the shaft. The magnetic field may be representativeof a torque applied to the shaft.

According to yet another aspect of the invention there is provided asensor including a shaft having at least one magnetized active region; afirst fluxgate coil positioned about the shaft and coupled to a firstmagnetometer and configured to provide a first sinusoidal signal as theshaft is rotated; a second fluxgate coil positioned about the shaftconfigured to provide a second sinusoidal signal as the shaft isrotated, the second sinusoidal signal being ninety degrees out of phasewith the first sinusoidal signal; and torque circuitry configured toaccept the first and second sinusoidal signals and provide an outputsignal representative of torque applied to the shaft.

Other aspects are set forth in the preceding description and associateddrawings. The terms and expressions which have been employed herein areused as terms of description and not of limitation, and there is nointention, in the use of such terms and expressions, of excluding anyequivalents of the features shown and described (or portions thereof),and it is recognized that various modifications are possible within thescope of the claims. Also, the various features and aspects disclosedherein may be combined with one another. All such variations andcombinations are contemplated within the scope of the present invention.Other modifications, variations, and alternatives are also possible.Accordingly, the claims are intended to cover all such equivalents.

1. A sensor comprising: a shaft having at least one active region, saidat least one active region having an elliptical magnetization; and atleast one magnetic sensor configured to sense a magnetic field aboutsaid shaft, said magnetic field being representative of a torque appliedto said shaft.
 2. The sensor of claim 1, wherein said ellipticalmagnetization has a nonzero axial component directed along a center lineaxis of said shaft at zero torque applied to said shaft, and whereinsaid magnetic sensor is configured to sense said nonzero axial componentat zero torque.
 3. The sensor of claim 1, wherein said ellipticalmagnetization is induced by current driven between a pair of electrodeclamps, said pair of electrode clamps oriented at an oblique angle withrespect to a center line axis of said shaft, wherein said ellipticalmagnetization has a nonzero axial component along a center line axis ofsaid shaft at zero torque, and wherein said nonzero axial component atzero torque is at least partially dependent on a value of said obliqueangle.
 4. The sensor of claim 1, wherein said elliptical magnetizationhas a nonzero axial component along a center line axis of said shaft atzero torque, and wherein nonzero axial component changes as said torqueis applied to said shaft.
 5. The sensor of claim 1, wherein saidmagnetic field sensed by said magnetic sensor comprises alternatingmagnetic polarities as said shaft is rotated and said magnetic sensorprovides a sinusoidal signal having an amplitude representative of saidtorque applied to said shaft.
 6. The sensor of claim 5, wherein afrequency of said sinusoidal signal is representative of a speed of saidshaft.